Pubblicazioni di Lanari Leonardo

2020

Caron S., Escande A., Lanari L., Mallein B.
SCIANCA NICOLA, DE SIMONE DANIELE, LANARI Leonardo, ORIOLO Giuseppe
MPC for Humanoid Gait Generation: Stability and Feasibility. IEEE TRANSACTIONS ON ROBOTICS 2020: -

2019

Penco Luigi, Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe, Ivaldi Serena
Ferrari P., Scianca N., Lanari L., Oriolo G.
An integrated motion planner/controller for humanoid robots on uneven ground. 2019 18th European Control Conference (ECC 2019) 2019: 1598-1603

Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) 2019: 651-656

Kheddar Abderrahmane, Caron Stéphane, Gergondet Pierre, Comport Andrew, Tanguy Arnaud, Ott Christian, Henze Bernd, Mesesan George, Englsberger Johannes, Roa Máximo A., Wieber Pierre-Brice, Chaumette François, Spindler Fabien, Oriolo Giuseppe, Lanari Leonardo, Escande Adrien, Chappellet Kevin, Kanehiro Fumio, Patrice Rabaté And
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE ROBOTICS AND AUTOMATION MAGAZINE 2019: 30-45

Al Khudir Khaled, Halvorsen Gaute, Lanari Leonardo, De Luca Alessandro
Stable Torque Optimization for Redundant Robots Using a Short Preview. IEEE ROBOTICS AND AUTOMATION LETTERS 2019: 2046-2053

2018

Zamparelli Alessio, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC. 12th IFAC Symposium on Robot Control SYROCO 2018 2018: 393-398

2017

Lanari Leonardo, Urbann Oliver, Hutchinson Seth, Schwarz Ingmar
Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
Gait generation via intrinsically stable MPC for a multi-mass humanoid model. 2017 IEEE-RAS 17th international conference on humanoid robotics (Humanoids 2017): Birmingham, United Kingdom 15 – 17 November 2017 2017: 547-552

Aboudonia Ahmed Osama Hamed, Scianca Nicola, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
Humanoid gait generation for walk-to locomotion using single-stage MPC. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017) 2017: 178-183

De Simone Daniele, Scianca Nicola, Ferrari Paolo, Lanari Leonardo, Oriolo Giuseppe
MPC-based humanoid pursuit-evasion in the presence of obstacles. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017: 5245-5250

Cognetti Marco, De Simone Daniele, Patota Federico, Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe
Real-time pursuit-evasion with humanoid robots. 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017: 4090-4095

2016

Scianca Nicola, Cognetti Marco, DE SIMONE Daniele, Lanari Leonardo, Oriolo Giuseppe
Intrinsically Stable MPC for Humanoid Gait Generation. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 2016: 601-606

Cognetti Marco, DE SIMONE Daniele, Lanari Leonardo, Oriolo Giuseppe
Real-time planning and execution of evasive motions for a humanoid robot. 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016: 4200-4206

2015

Lanari Leonardo, Hutchinson Seth
Inversion-based gait generation for humanoid robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) 2015: 1592-1598

Lanari Leonardo, Hutchinson Seth
Planning desired center of Mass and zero moment point trajectories for bipedal locomotion. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) 2015: 637-642

2014

Lanari Leonardo, S. Hutchinson, L. Marchionni
Boundedness Issues in Planning of Locomotion Trajectories for Biped Robots. 2014 IEEE-RAS International Conference on Humanoid Robots 2014: 951-958

LANARI Leonardo
Humanoid Push Recovery: An Analytical Solution. INTERNATIONAL JOURNAL OF ADVANCED RESEARCH IN COMPUTER SCIENCE AND SOFTWARE ENGINEERING 2014: 87-92

M. Bellaccini, Lanari Leonardo, Paolillo Antonio, Vendittelli Marilena
Manual guidance of humanoid robots without force sensors: preliminary experiments with NAO. Proc. of the 2014 IEEE International Conference on Robotics and Automation 2014: -

2013

M. Bellaccini, Lanari Leonardo, Paolillo Antonio, Vendittelli Marilena
Manual Guidance of the humanoid NAO without Force Measurements. Proc. of 6th International Workshop on Human-Friendly Robotics 2013: -

2010

C. Toglia, Vendittelli Marilena, Lanari Leonardo
Dynamics and control of a paraglider for planetary exploration. 61st International Astronautical Congress 2010: 2166-2172

Chiara Toglia, Vendittelli Marilena, Lanari Leonardo
Path following for an autonomous paraglider. 49th IEEE Conference on Decision and Control 2010: 4869-4874

2007

L. Cavarischia, Lanari Leonardo
Hierarchical Control Implementation. Proc. of the 15th Mediterranean Conference on Control and Automation 2007: 1-6

Leonardo Cavarischia, Lanari Leonardo
Hierarchical tracking implementation. Proc. 46th IEEE Conference on Decision and Control 2007: 4257-4262

L. Cavarischia, Lanari Leonardo
Invariant subspaces in large scale systems. 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems 2007: -

Leonardo Cavarischia, Lanari Leonardo
Subspaces invariance constraints in Large Scale Systems. Proc. 2007 Mediterranean Conf. on Control & Automation 2007: -

2006

Cefalo Massimo, Lanari Leonardo, Oriolo Giuseppe
Energy-based control of the Butterfly robot. Proc. 8th International IFAC Symposium on Robot Control 2006: -

2004

Benosman M, LE VEY G, Lanari Leonardo, DE LUCA Alessandro
Rest to rest motion for planar multi-link flexible manipulators through backward recursion. JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT AND CONTROL 2004: 115-123

2003

M. Benosman, G. LE VEY, Lanari Leonardo, DE LUCA Alessandro
Rest-to-rest motion for planar multi-link flexible manipulator. Proc. 7th IFAC Symp. on Robot Control 2003: 327-332

Cefalo M, Lanari Leonardo, Oriolo Giuseppe, Vendittelli Marilena
The REAL Lab: Remote experiments for active learning. 1st Workshop on Web Learning - AICA2003 2003: 118-129

2002

G. Besancon, Battilotti Stefano, Lanari Leonardo
A new separation result for Euler-Lagrange-like systems. 15th IFAC World Congress 2002: 247-252

1998

Gildas Besancon, Battilotti Stefano, Lanari Leonardo
On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems. Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171) 1998: 3139-3143

G. Fusco, Lanari Leonardo
Parametrization of a flexible link's internal behavior in an output tracking problem. Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171) 1998: 3627-3628

1997

Battilotti Stefano, Lanari Leonardo
Lanari Leonardo, Oriolo Giuseppe
DE SANTIS Alberto, Lanari Leonardo
DISTURBANCE ATTENUATION FOR A CLASS OF DISTRIBUTED PARAMETER SYSTEMS. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 1997: 759-775

Battilotti Stefano, Lanari Leonardo, Ortega R. .
G. Fusco, Lanari Leonardo
Output tracking and internal behavior of a flexible slewing link. Proceedings of the 36th IEEE Conference on Decision and Control 1997: 1373-1374

Lanari Leonardo
Singular arcs and output tracking. Proceedings of the 36th IEEE Conference on Decision and Control 1997: 295-296

1996

Battilotti S., Lanari L., Ortega R.
Battilotti Stefano, Lanari Leonardo
Tracking with disturbance attenuation for rigid robots. Proceedings of IEEE International Conference on Robotics and Automation 1996: 1578-1583

1995

Battilotti Stefano, Lanari Leonardo
Adaptive disturbance attenuation for elastic joint robots. Proceedings of 34th IEEE Conference on Decision and Control 1995: 2823-2828

Battilotti Stefano, Lanari Leonardo
Battilotti Stefano, Lanari Leonardo
On optimal controllers for elastic joint robots. Proceedings of 1995 34th IEEE Conference on Decision and Control 1995: 2818-2822

DE LUCA Alessandro, Lanari Leonardo
Robots with elastic joints are linearizable via dynamic feedback. Proc. 34th IEEE Conf. on Decision and Control 1995: 3895-3897

1994

A. Astolfi, Lanari Leonardo
Disturbance attenuation and set-point regulation of rigid robots via H/sub ∞/ control. Proceedings of 1994 33rd IEEE Conference on Decision and Control 1994: 2578-2583

Battilotti Stefano, S. Di Gennaro, Lanari Leonardo
OUTPUT FEEDBACK STABILIZATION OF A RIGID SPACECRAFT WITH UNKNOWN DISTURBANCES. Proceedings of 1994 33rd IEEE Conference on Decision and Control 1994: 916-920

1993

Lanari Leonardo, P. Sicard, J. T. Wen
Stability analysis for feedforward approximations in the control of flexible joint robots. [1993] Proceedings IEEE International Conference on Robotics and Automation 1993: 990-995

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